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Ajout de la commande des moteurs

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This commit is contained in:
Club robotique de Riom 2024-03-22 22:30:37 +01:00
parent 5b37406e9c
commit 901bdeffa1
2 changed files with 118 additions and 3 deletions
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2
CMakeLists.txt
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@ -21,7 +21,7 @@ target_include_directories(Mon_Projet PRIVATE Mon_Projet_ULD_API/inc/)
target_link_libraries(Mon_Projet
hardware_i2c
hardware_uart
hardware_pwm
hardware_pio
pico_stdlib
pico_multicore

119
main.c
View File

@ -4,16 +4,131 @@
* SPDX-License-Identifier: BSD-3-Clause
*/
#include "pico/stdlib.h"
#include "hardware/pwm.h"
#include <stdio.h>
#include "QEI.h"
#define LED1PIN 20
#define M1_SENS1 7
#define M1_SENS2 13
#define M1_VITESSE 27 //5B
#define M2_SENS1 10
#define M2_SENS2 5
#define M2_VITESSE 9 //4B
void Moteur_init(void);
void M1_forward(int speed);
void M1_backward(int speed);
void M1_speed(int speed);
void M2_forward(int speed);
void M2_backward(int speed);
void M2_speed(int speed);
void main(void)
{
int ledpower = 500;
stdio_init_all();
QEI_init();
Moteur_init();
gpio_init(LED1PIN);
gpio_set_dir(LED1PIN, GPIO_OUT );
gpio_put(LED1PIN, 1);
while(1){
QEI_update();
printf(">c1:%d\n>c2:%d\n", QEI_get(QEI_A_NAME), QEI_get(QEI_B_NAME) );
sleep_ms(10);
printf(">c1:%d\n>c2:%d\n", QEI_get(QEI_A_NAME), QEI_get(QEI_B_NAME) );
M1_speed(1000);
M2_speed(1000);
sleep_ms(100);
}
}
void Moteur_init(void){
gpio_init(M1_SENS1);
gpio_init(M1_SENS2);
gpio_init(M2_SENS1);
gpio_init(M2_SENS2);
gpio_set_dir(M1_SENS1, GPIO_OUT);
gpio_set_dir(M1_SENS2, GPIO_OUT);
gpio_set_dir(M2_SENS1, GPIO_OUT);
gpio_set_dir(M2_SENS2, GPIO_OUT);
gpio_put(M1_SENS1, 0);
gpio_put(M1_SENS2, 0);
gpio_put(M2_SENS1, 0);
gpio_put(M2_SENS2, 0);
gpio_set_function(M1_VITESSE, GPIO_FUNC_PWM);
gpio_set_function(M2_VITESSE, GPIO_FUNC_PWM);
pwm_set_wrap(5, 1000);
pwm_set_wrap(4, 1000);
pwm_set_chan_level(5, PWM_CHAN_B, 0);
pwm_set_chan_level(4, PWM_CHAN_B, 0);
pwm_set_enabled(5, true);
pwm_set_enabled(4, true);
}
void M1_forward(int speed)
{
pwm_set_chan_level(5, PWM_CHAN_B, speed);
gpio_put(M1_SENS1, 1);
gpio_put(M1_SENS2, 0);
}
// Set motor 1 speed backward
void M1_backward(int speed)
{
pwm_set_chan_level(5, PWM_CHAN_B, speed);
gpio_put(M1_SENS1, 0);
gpio_put(M1_SENS2, 1);
}
// Set motor 1 speed and direction (negative value : backward / positive value : forward)
void M1_speed(int speed)
{
if(speed < 0)
{
speed = -speed;
M1_backward(speed);
}
else
{
M1_forward(speed);
}
}
// Set motor 2 speed forward
void M2_forward(int speed)
{
pwm_set_chan_level(4, PWM_CHAN_B, speed);
gpio_put(M2_SENS1, 0);
gpio_put(M2_SENS2, 1);
}
// Set motor 2 speed backward
void M2_backward(int speed)
{
pwm_set_chan_level(4, PWM_CHAN_B, speed);
gpio_put(M2_SENS1, 1);
gpio_put(M2_SENS2, 0);
}
// Set motor 2 speed and direction (negative value : backward / positive value : forward)
void M2_speed(int speed)
{
if(speed < 0)
{
speed = -speed;
M2_backward(speed);
}
else
{
M2_forward(speed);
}
}